From: Mart Lubbers <mart@martlubbers.net>
Date: Thu, 10 Dec 2015 14:31:06 +0000 (+0100)
Subject: push
X-Git-Url: https://git.martlubbers.net/?a=commitdiff_plain;h=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;p=des2015.git

push
---

diff --git a/dsl/runtime/specs/spec1.tdsl b/dsl/runtime/specs/spec1.tdsl
index 197784a..ce35b55 100644
--- a/dsl/runtime/specs/spec1.tdsl
+++ b/dsl/runtime/specs/spec1.tdsl
@@ -1,4 +1,4 @@
-Acceleration 1000
+-Acceleration 1000
 Speed 200
 Behaviour Wander 
 	take control:
diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
new file mode 100644
index 0000000..5100e52
--- /dev/null
+++ b/dsl/runtime/specs/wander.tdsl
@@ -0,0 +1,33 @@
+Acceleration 1000
+Speed 250
+Behaviour Wander
+	take control:
+	action:
+		left motor forward
+		right motor forward
+		wait forever
+
+Behaviour StayInFieldBoth
+	take control: (&& Light on left Light on right)
+	action:
+		left motor backward with speed 1000 acceleration 10000
+		right motor backward with speed 250 acceleration 10000
+		wait 1000 ms
+Behaviour StayInFieldL
+	take control: Light on left
+	action:
+		right motor backward with speed 250 acceleration 10000
+		left motor forward with speed 250 acceleration 10000
+		wait 750 ms
+Behaviour StayInFieldR
+	take control: Light on right
+	action:
+		right motor forward with speed 250 acceleration 10000
+		left motor backward with speed 250 acceleration 10000
+		wait 750 ms
+Behaviour StayInFieldB
+	take control: Distance dangerous at back
+	action:
+		wait 750 ms
+	 
+Mission stayinfield using Wander StayInFieldL StayInFieldR StayInFieldB StayInFieldBoth and stops when Color is Cyan
\ No newline at end of file
diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index d67f83b..1d79edd 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -35,6 +35,14 @@ public abstract class BasicBehaviour implements Behavior{
 		
 	}
 	
+	protected void rightTurn(int angle){
+		
+	}
+	
+	protected void leftTurn(int angle){
+		
+	}
+	
 	@Override
 	public void action() {
 		suppressed = false;
diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index 6353904..ad31306 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,6 +1,7 @@
 package nl.ru.des;
 
-import lejos.hardware.Button;
+import java.util.LinkedList;
+
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -59,12 +60,12 @@ public class Marster {
 			RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
 			RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
 			RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
-//			leftMotor.setSpeed(Constants.speed);
-//			rightMotor.setSpeed(Constants.speed);
-//			measMotor.setSpeed(100);
-//			rightMotor.setAcceleration(Constants.acceleration);
-//			leftMotor.setAcceleration(Constants.acceleration);
-//			measMotor.setAcceleration(100);
+			leftMotor.setSpeed(Constants.speed);
+			rightMotor.setSpeed(Constants.speed);
+			measMotor.setSpeed(100);
+			rightMotor.setAcceleration(Constants.acceleration);
+			leftMotor.setAcceleration(Constants.acceleration);
+			measMotor.setAcceleration(100);
 			
 			LCDPrinter.print("Loading touch sensors...");
 			SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
@@ -76,16 +77,15 @@ public class Marster {
 			LCDPrinter.print("Loading gyro sensor...");
 			SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
 
-			BTController.startMaster(slave, new SensorCollector(backUltra, leftLight, rightLight, gyro));
+			SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, gyro);
+			BTController.startMaster(slave, sc);
 			LCDPrinter.print("Finished loading");
-			Button.waitForAnyPress();
-//			Arbitrator a;
-//			LinkedList<Mission> missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
-//			for(Mission m : missions){
-//				LCDPrinter.print("Start " + m.name + " mission...");
-//				a = new Arbitrator(m.behaviours);
-//				a.start();
-//			}
+			LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+			for(Mission m : missions){
+				LCDPrinter.print("Start " + m.name + " mission...");
+				arb = new Arbitrator(m.behaviours);
+				arb.start();
+			}
 		}
 	}
 }
\ No newline at end of file
diff --git a/dsl/runtime/src/nl/ru/des/ShutdownBehaviour.java b/dsl/runtime/src/nl/ru/des/ShutdownBehaviour.java
index ae75647..7993fe0 100644
--- a/dsl/runtime/src/nl/ru/des/ShutdownBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/ShutdownBehaviour.java
@@ -1,16 +1,12 @@
 package nl.ru.des;
 
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
-import nl.ru.des.sensors.SensorCollector;
+import lejos.robotics.subsumption.Behavior;
 
-public class ShutdownBehaviour extends BasicBehaviour{
-	public ShutdownBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
-			EV3LargeRegulatedMotor rightMotor, EV3LargeRegulatedMotor measMotor) {
-		super(sensors, leftMotor, rightMotor, measMotor);
-	}
-	
+public abstract class ShutdownBehaviour implements Behavior{
 	@Override public void action(){
 		LCDPrinter.print("Terminate mission");
 		Marster.arb.stop();
 	}
+	
+	@Override public void suppress(){}
 }
diff --git a/dsl/runtime/src/nl/ru/des/sensors/RemoteSensors.java b/dsl/runtime/src/nl/ru/des/sensors/RemoteSensors.java
index 2075512..65bc067 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/RemoteSensors.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/RemoteSensors.java
@@ -7,7 +7,7 @@ import lejos.utility.Delay;
 import nl.ru.des.LCDPrinter;
 
 public class RemoteSensors{
-	public static final int DELAY = 250;
+	public static final int DELAY = 100;
 	private SampleProvider left, right, ultra, color;
 	private float[] leftSamples, rightSamples, ultraSamples, colorSamples;
 	private float leftLatest, rightLatest, ultraLatest, colorLatest;
diff --git a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
index 60652d8..29433c1 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -1,10 +1,15 @@
 package nl.ru.des.sensors;
 
+import lejos.hardware.lcd.LCD;
 import lejos.robotics.SampleProvider;
-import nl.ru.des.LCDPrinter;
+import lejos.utility.Delay;
 
 public class SensorCollector implements MessageHandler{
-	public static final int DELAY = 300;
+	public static final int DELAY = 100;
+
+	private static final float DANGER_DISTANCE_FRONT = 0.15f;
+	private static final float DANGER_DISTANCE_BACK = 0.035f;
+	private static final float DANGER_LIGHT = 0.45f;
 	
 	//Local sensors
 	private SampleProvider ultra, leftLight, rightLight, gyro;
@@ -34,13 +39,30 @@ public class SensorCollector implements MessageHandler{
 		gyroTime = System.currentTimeMillis();
 	}
 	
+	public void debug(){
+		new Thread(){
+			@Override public void run(){
+				while(true){
+					ultra.fetchSample(ultraSamples, 0);
+					leftLight.fetchSample(leftLightSamples, 0);
+					rightLight.fetchSample(rightLightSamples, 0);
+					LCD.drawString("back: " + Float.toString(ultraSamples[0]), 0, 1);
+					LCD.drawString("front: " + Float.toString(frontUltra), 0, 2);
+					LCD.drawString("left: " + Float.toString(leftLightSamples[0]), 0, 3);
+					LCD.drawString("right: " + Float.toString(rightLightSamples[0]), 0, 4);
+					Delay.msDelay(250);
+				}
+			}
+		}.run();
+	}
+	
 	//Local sensors
-	public float backDistance(){
+	public boolean backDistance(){
 		if(System.currentTimeMillis()-ultraTime>DELAY){
 			ultra.fetchSample(ultraSamples, 0);
 			ultraTime = System.currentTimeMillis();
 		}
-		return ultraSamples[0];
+		return ultraSamples[0]>DANGER_DISTANCE_BACK;
 	}
 	
 	public boolean leftLight(){
@@ -48,7 +70,7 @@ public class SensorCollector implements MessageHandler{
 			leftLight.fetchSample(leftLightSamples, 0);
 			leftLightTime = System.currentTimeMillis();
 		}
-		return leftLightSamples[0]>0.5;
+		return leftLightSamples[0]>DANGER_LIGHT;
 	}
 	
 	public boolean rightLight(){
@@ -56,7 +78,7 @@ public class SensorCollector implements MessageHandler{
 			rightLight.fetchSample(rightLightSamples, 0);
 			rightLightTime = System.currentTimeMillis();
 		}
-		return rightLightSamples[0]>0.5;
+		return rightLightSamples[0]>DANGER_LIGHT;
 	}
 	
 	public float gyro(){
@@ -68,6 +90,10 @@ public class SensorCollector implements MessageHandler{
 	}
 	
 	//Remote sensors
+	public boolean collected(int[] colors){
+		return false;
+	}
+	
 	public int color(){
 		return color;
 	}
@@ -80,13 +106,12 @@ public class SensorCollector implements MessageHandler{
 		return rightTouch;
 	}
 	
-	public float frontDistance(){
-		return frontUltra;
+	public boolean frontDistance(){
+		return frontUltra<DANGER_DISTANCE_FRONT;
 	}
 
 	@Override
 	public void handleMessage(String m) {
-		LCDPrinter.print("Sensor: " + Character.toString(m.charAt(0)) + " with value: " + m.substring(1));
 		String s = m.substring(1);
 		switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
 		case COLOR:
diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index 65351f9..35ed5b0 100644
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -20,7 +20,7 @@ StoppingCondition:
 	'Collected at least' colors+=Color+ |
 	'Touched on' touch=LeftRight |
 	'Light on' light=LeftRight |
-	'No object in sight on ' dist=BackFront |
+	'Distance dangerous at ' dist=BackFront |
 	'Color is' color=Color;
 
 Behaviour: 'Behaviour' name=ID 
@@ -40,11 +40,9 @@ enum RockLakeE: ROCK='rock' | LAKE='lake';
 Direction: d=DirectionE;
 enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
 Operator: d=OperatorE;
-enum OperatorE: AND = 'and' | OR = 'or';
+enum OperatorE: AND = '&&' | OR = '||';
 BackFront: d=BackFrontE;
 enum BackFrontE: BACK = 'back' | FRONT = 'front';
-Comparison: d=ComparisonE;
-enum ComparisonE: GE='>' | LE='<';
 LeftRight: d=LeftRightE;
 enum LeftRightE: LEFT='left' | RIGHT='right';
 Color: d=ColorE;
diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index 84a1261..e57aea6 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -27,31 +27,31 @@ class TaskDSLGenerator implements IGenerator {
 			for(Behaviour b : root.behaviour){
 				fsa.generateFile("nl/ru/des/" + b.name + "Behaviour.java", makeBehaviour(b));
 			}
-			//fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
+			fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
 		}
 	}
 	
-	def CharSequence makeMissions(EList<Mission> list)'''
+	def CharSequence makeMissions(EList<Mission> mission)'''
 package nl.ru.des;
 
 import java.util.LinkedList;
 
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
 import lejos.robotics.subsumption.Behavior;
-import nl.ru.des.Behaviours;
+import lejos.robotics.RegulatedMotor;
+
+import nl.ru.des.sensors.SensorCollector;
 
 public class Missions{
-	public static LinkedList<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
-			EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
+	public static LinkedList<Mission> getMissions(final SensorCollector sensors, RegulatedMotor rightMotor,
+			RegulatedMotor leftMotor, RegulatedMotor measMotor){
 		LinkedList<Mission> missions = new LinkedList<Mission>();
-		«FOR m : list»
+		«FOR m : mission»
 		missions.add(new Mission("«m.name»", new Behavior[]{
-			«FOR b : m.behaviours SEPARATOR ","»
-			new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
-			«ENDFOR»,
-			new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
+			«FOR b : m.behaviours SEPARATOR "," AFTER ","»new «b.name»Behaviour(sensors, rightMotor, leftMotor, measMotor)
+			«ENDFOR»
+			new ShutdownBehaviour(){
 				@Override public boolean takeControl(){
-					return »;
+					return «printExpression(m.se)»;
 				}
 			}}
 		«ENDFOR»));
@@ -73,8 +73,8 @@ public class «b.name»Behaviour extends BasicBehaviour {
 	}
 	«IF b.tc != null»
 	@Override public boolean takeControl(){
-		return «printExpression(b.tc)»;
-		}
+		return !suppressed || «printExpression(b.tc)»;
+	}
 	«ENDIF»
 	
 	@Override public void action(){
@@ -88,6 +88,8 @@ public class «b.name»Behaviour extends BasicBehaviour {
 				«a.whichMotor.d.toString()»Motor.«a.moveDir.d.toString()»();
 			«ELSEIF a.measureWhat != null»
 			«a.measureWhat.d.toString()»Measure();
+			«ELSEIF a.turnDir != null»
+			«a.turnDir.d.toString()»Turn(«a.degrees»);
 			«ELSE»
 			time = System.currentTimeMillis();
 			while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
@@ -114,8 +116,10 @@ public class Constants{
 		sensors.collected(new int[]{«FOR c : e.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»})
 		«ELSEIF e.scond.touch != null»
 		sensors.«e.scond.touch.d.toString()»Touch()
+		«ELSEIF e.scond.light != null»
+		sensors.«e.scond.light.d.toString()»Light()
 		«ELSEIF e.scond.dist != null»
-		sensors.distance() «e.scond.dist.d.toString()» «e.scond.dist»
+		sensors.«e.scond.dist.d.toString()»Distance()
 		«ELSEIF e.scond.color != null»
 		sensors.color() == «e.scond.color.d.ordinal»
 		«ENDIF»
@@ -123,8 +127,7 @@ public class Constants{
 		«IF e.op.d.equals(OperatorE.AND)»
 			«FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
 		«ELSE»
-			«FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
+			«FOR ex : e.s BEFORE "(" SEPARATOR "||" AFTER ")"»«printExpression(ex)»«ENDFOR»
 		«ENDIF»	
-	«ENDIF»
-	'''
+	«ENDIF»'''
 }
\ No newline at end of file